BS EN 61800-7-304-2008 可调速电驱动系统.电力传动系统用剖面图的使用和通用接口.4型剖面图映射到网络技术.pdf

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1、BRITISH STANDARD BS EN 61800-7-304: 2008 Adjustable speed electrical power drive systems Part 7-304: Generic interface and use of profiles for power drive systems Mapping of profile type 4 to network technologies ICS 29.200; 35.100.05 BS EN 61800-7-304:2008 This British Standard was published under

2、the authority of the Standards Policy and Strategy Committee on 30 September 2008 BSI 2008 ISBN 978 0 580 60081 4 National foreword This British Standard is the UK implementation of EN 61800-7-304:2008. It is identical to IEC 61800-7-304:2007. The UK participation in its preparation was entrusted to

3、 Technical Committee PEL/22, Power electronics. A list of organizations represented on this committee can be obtained on request to its secretary. This publication does not purport to include all the necessary provisions of a contract. Users are responsible for its correct application. Compliance wi

4、th a British Standard cannot confer immunity from legal obligations. Amendments/corrigenda issued since publication DateComments EUROPEAN STANDARD EN 61800-7-304 NORME EUROPENNE EUROPISCHE NORM April 2008 CENELEC European Committee for Electrotechnical Standardization Comit Europen de Normalisation

5、Electrotechnique Europisches Komitee fr Elektrotechnische Normung Central Secretariat: rue de Stassart 35, B - 1050 Brussels 2008 CENELEC - All rights of exploitation in any form and by any means reserved worldwide for CENELEC members. Ref. No. EN 61800-7-304:2008 E ICS 29.200; 35.100.05 Partially s

6、upersedes EN 61491:1998 English version Adjustable speed electrical power drive systems - Part 7-304: Generic interface and use of profiles for power drive systems - Mapping of profile type 4 to network technologies (IEC 61800-7-304:2007) Entranements lectriques de puissance vitesse variable - Parti

7、e 7-304: Interface et utilisation gnriques de profils pour les entranements lectriques de puissance - Mapping des profils de type 4 pour technologies rseaux (CEI 61800-7-304:2007) Elektrische Leistungsantriebssysteme mit einstellbarer Drehzahl - Teil 7-304: Generisches Interface und Nutzung von Prof

8、ilen fr Leistungsantriebssysteme (PDS) - Abbildung von Profil-Typ 4 auf Netzwerktechnologien (IEC 61800-7-304:2007) This European Standard was approved by CENELEC on 2008-02-01. CENELEC members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving th

9、is European Standard the status of a national standard without any alteration. Up-to-date lists and bibliographical references concerning such national standards may be obtained on application to the Central Secretariat or to any CENELEC member. This European Standard exists in three official versio

10、ns (English, French, German). A version in any other language made by translation under the responsibility of a CENELEC member into its own language and notified to the Central Secretariat has the same status as the official versions. CENELEC members are the national electrotechnical committees of A

11、ustria, Belgium, Bulgaria, Cyprus, the Czech Republic, Denmark, Estonia, Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, the Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland and the United Kingdom

12、. Foreword The text of document 22G/185/FDIS, future edition 1 of IEC 61800-7-304, prepared by SC 22G, Adjustable speed electric drive systems incorporating semiconductor power converters, of IEC TC 22, Power electronic systems and equipment, was submitted to the IEC-CENELEC parallel vote and was ap

13、proved by CENELEC as EN 61800-7-304 on 2008-02-01. This European Standard, together with its companion parts for Profile type 4 (SERCOS), partially replaces EN 61491:1998 which is at present being revised (to be issued as a Technical Report). The following dates were fixed: latest date by which the

14、EN has to be implemented at national level by publication of an identical national standard or by endorsement (dop) 2008-11-01 latest date by which the national standards conflicting with the EN have to be withdrawn (dow) 2011-02-01 Annex ZA has been added by CENELEC. _ Endorsement notice The text o

15、f the International Standard IEC 61800-7-304:2007 was approved by CENELEC as a European Standard without any modification. _ BS EN 61800-7-304:2008 2 CONTENTS INTRODUCTION. 1 Scope.1 2 Normative references .1 3 Terms, definitions and abbreviated terms .1 3.1 Terms and definitions 1 3.2 Abbreviated t

16、erms .1 4 General 1 5 Mapping to CP16/1 (SERCOS I) and CP16/2 (SERCOS II) .1 5.1 Reference to communication standards.1 5.2 Overview.1 5.3 Physical layer and topology. 5.4 Synchronisation mechanism2 5.4.1 General .2 5.4.2 Handling of command and feedback values .2 5.4.3 Position loop with fine inter

17、polator.2 5.5 Telegram contents.2 5.5.1 General .2 5.5.2 Data block .2 5.5.3 Communication function group telegrams 2 5.5.4 Standard telegrams .2 5.5.5 Application telegrams 2 5.6 Non-cyclic data transfer.2 5.7 Real-time bits2 5.7.1 Functions of Real time bits 2 5.7.2 Allocation of real-time bits .

18、5.7.3 Possible cases 3 5.8 Signal control word and signal status word3 5.9 Data container.3 5.10 Drive shutdown functions 3 5.11 Communication classes.3 5.11.1 General .3 5.11.2 Communication class A .3 5.11.3 Communication class B (Extended Functions) .4 5.11.4 Communication class C (Additional Fun

19、ctions) 4 5.11.5 Communication cycle time granularity4 6 Mapping to CP16/3 (SERCOS III) .4 6.1 Reference to communication standards.4 6.2 Overview.4 6.3 Physical layer and topology.4 6.4 Synchronisation mechanism and telegram content 4 6.5 Non-cyclic data transfer.4 6.6 Real-time bits4 6.7 Signal co

20、ntrol word and signal status word4 6.8 Data container.4 BS EN 61800-7-304:2008 3 6.9 Drive shutdown functions 4 6.10 Communication classes.4 7 Mapping to EtherCAT .4 7.1 Reference to communication standards.4 7.2 Overview.4 7.3 SoE Synchronisation .4 7.3.1 General .4 7.3.2 CP16 Phase 0-2 7.3.3 CP16

21、Phase 3-4 7.4 SoE Application Layer Management 7.4.1 EtherCAT State Machine and IEC 61784 CPF 16 State Machine . 7.4.2 Multiple Drives.5 7.4.3 IDN Usage.5 7.5 SoE Process Data Mapping.5 7.6 SoE Service Channel Services 5 7.6.1 Overview .5 7.6.2 SSC Read .5 7.6.3 SSC Write . 7.6.4 SSC Procedure Comma

22、nds .6 7.6.5 SSC Slave Info6 7.7 SoE Coding General6 7.8 SoE Protocol Data Unit Coding6 7.8.1 SSC Read .6 7.8.2 SSC Write .7 7.8.3 Notify SSC Command Execution Request7 7.8.4 SSC Slave Info Bibliography7 Figure 1 Structure of IEC 61800-7 Figure 2 Topology2 Figure 3 Validity of command values and fee

23、dback acquisition time in the PDSs .2 Figure 4 Synchronisation of cycle times .2 Figure 5 Synchronisation of the control loops and the fine interpolator.2 Figure 6 AT configuration (example) 2 Figure 7 Function of the real-time bits Figure 8 Allocation of IDN 0 to the real-time bits .3 Figure 9 Allo

24、cation of IDN = 0 to the real-time bits .3 Figure 10 Allocation of IDN 0 to the real-time bits .3 Figure 11 Configuration example of signal status word 3 Figure 12 Data container configuration without acknowledge (slave)3 Figure 13 Data container configuration with acknowledge (slave).3 Figure 14 St

25、ructure of Communication classes Figure 15 Topology4 Figure 16 Telegram sequence Figure 17 General communication cycle. BS EN 61800-7-304:2008 4 Annex (normative) - - - - . Figure 18 ESM and IEC 61158-4-16 State Machine .5 Figure 19 Successful SSC Read sequence 5 Figure 20 Unsuccessful SSC Read sequ

26、ence 5 Figure 21 Successful SSC Fragmented Read sequence.5 Figure 22 Successful SSC Write sequence Figure 23 Unsuccessful SSC Write sequence 6 Figure 24 Successful SSC Fragmented Write sequence.6 Figure 25 Successful SSC Procedure Command sequence6 Figure 26 Aborted SSC Procedure Command sequence 6

27、Figure 27 Slave Info sequence.6 Table 1 CP16/1 and CP16/2 feature summary1 Table 2 Number of PDSs per network (examples) 1 Table 3 Communication Profile Interoperability within a network Table 4 Typical operation data for cyclic transmission2 Table 5 Typical data for non-cyclic transmission 2 Table

28、6 IDN for choice and parameterisation of telegrams .2 Table 7 Structure of standard telegram-0.2 Table 8 Structure of standard telegram-1.2 Table 9 Structure of standard telegram-2.2 Table 10 Structure of standard telegram-3 .2 Table 11 Structure of standard telegram-4 .2 Table 12 Structure of stand

29、ard telegram-5 . Table 13 Structure of standard telegram-6 .2 Table 14 IDN for configuration of MDT.2 Table 15 IDN for configuration of AT2 Table 16 IDN for real-time bits .2 Table 17 Real-time bits assignment IDNs. Table 18 IDN for configuring control and status words .3 Table 19 Data containers ID

30、N 3 Table 20 Ring configuration Timing.3 Table 21 Ring configuration Telegram configuration3 Table 22 Ring configuration Phase run-up 3 Table 23 Service channel protocol .3 Table 24 Information capture the feedback values; synchronise different cycle times and fine interpolators in the PDSs. CP16/1

31、and CP16/2 shall provide for the cyclic transmission of following telegrams, in that order, as can been shown in Figure 3: 1) The master shall send a synchronisation telegram that is called MST to all slaves. 2) Each slave shall send its data telegram that is called AT back to the master. 3) The mas

32、ter shall send its master data telegram that is called MDT to all slaves. During network initialisation, the master shall transmit to each slave all parameters that determine the time slot and the data content of these telegrams. In that way each slave shall be able to transmit its AT and to read it

33、s part of the MDT without interfering with the others slaves. The communication cycle time shall be selected among the following values: BS EN 61800-7-304:2008 20 62,5 s, 125 s, and then 250 s to 65 ms in 250 s increments. 5.11.5 defines 3 granularities. 5.4.2 Handling of command and feedback values

34、 The MST shall not only control the access to the network, but also assist in orienting the processing within the PDSs. Designs shall be possible in which the PDSs provide feedback values for the control unit. These values shall be captured in all affected PDSs simultaneously. The capture point indi

35、cated by t4 referenced to the end of the MST shall be stored in the PDSs as an IDN. The PDSs shall already have a default time interval t5 stored as an IDN. This time interval shall indicate the minimum amount of time needed between the capture point t4 and the end of the next MST, to allow the PDS

36、to process the captured feedback value for the following AT. t3 shall be defined as another parameter. This parameter shall indicate after which time interval, counting from the end of the MST, the PDS is allowed to access the new command values transmitted in the MDT. The master stores t3 as an IDN

37、 in the PDSs. In order to determine t3, the parameter tMTSG (command value proceeding time) shall be stored in the PDSs as an IDN. This parameter shall describe the minimum time required by the slave to process the new command value(s) for the PDS(s) after the MDT. Figure 3 illustrates these time in

38、tervals. Figure 3 Validity of command values and feedback acquisition time in the PDSs Synchronisation of the control loops in the PDSs The feedback values shall be captured in time t4 in the PDS, and the control loops (cycle time tRcyc) shall be synchronised in the PDS at that time (see Figure 3 an

39、d Figure 4). The PDSs need a certain time to activate a newly received command value in the control loop. The command values available at time t3 shall be activated in the control loop to the next time t4. If the time between t3 and t4 is too small, then the command values shall only be activated in

40、 the next cycle at time t4. If a PDS is programmed to detect that times t3 and t4 are in a critical range, it is recommended that the PDS generates a diagnostic message. The PDSs manufacturers shall document the dependencies of time t3 and t4 and the diagnostic message in the PDSs manual. The cycle

41、time within the control unit and the PDSs shall be as specified below: a) The cycle time during which the control unit shall provide new command values for the PDSs shall be called tNcyc. The operating cycle inside of the control unit shall be an integer multiple of the communication cycle time. If

42、the operating cycle time is n times longer than the communication cycle time, the same calculated values shall be transmitted n times in consecutive telegrams: MSTAT MST 1.1 t AT1.2 Scyc Slave 1 AT 2 Slave 2 t 5.m t4 t3 t MDT AT MTSG.K M ATm t Rcyc t Rcyc BS EN 61800-7-304:2008 21 tNcyc = n tScyc, n

43、 = 1,2. (n is an integer that is not related to the abbreviations) b) Micro-processor controlled PDS shall have operating algorithms that are oriented to the data transmission. The cycle time during which the PDS shall perform its control algorithm shall be called tRcyc. It shall be an integer divid

44、er of the communication cycle time, and shall be in phase with the synchronisation telegram. If the PDS cycle time is z times shorter than the communication cycle time, intermediate values for command values shall be interpolated inside the PDS: z tRcyc = tScyc, z = 1, 2. (z is an integer that is no

45、t related to the abbreviations) Figure 4 shows graphically how tNcyc and tRcyc relate to tScyc. tNcyctScyctRcyc tNcyc Timer: Mastermode Timer: Slavemode tRcyc tScyc Figure 4 Synchronisation of cycle times 5.4.3 Position loop with fine interpolator At time t4, the fine interpolator shall provide the

46、corresponding received position command value to the position control. At the same time, the last received position command value shall be provided to the fine interpolator (see Figure 5). The fine interpolator shall calculate the differences in the position command values ( Pos) for all steps (posi

47、tion control cycles). The differences in the position command values shall be calculated with: the ratio of the NC-cycle time and the PDS cycle time, the position command values, (optionally) the velocity and acceleration, type and order of fine interpolation. Last Step MST AT MST1.1 t AT1.2 Scyc Sl

48、ave 1 AT2 Slave 2 t5.m t4 t3 t MDT AT MTSG.K MATm t Rcyc t Rcyc t Rcyc Last position command value of the fine interpolator Pos (Fine interpolator) Start fine interpolator 1. Step Figure 5 Synchronisation of the control loops and the fine interpolator BS EN 61800-7-304:2008 22 5.5 Telegram contents 5.5.1 General IEC 61800-7-204, Clause 7 specifies a comprehensive list of transmittable data (as well as procedure co